From Robot to Human Grasping Simulation by Beatriz León, Antonio Morales, Joaquín Sancho-Bru

By Beatriz León, Antonio Morales, Joaquín Sancho-Bru

The human hand and its dexterity in greedy and manipulating items are a number of the hallmarks of the human species. For years, anatomic and biomechanical stories have deepened the certainty of the human hand’s functioning and, in parallel, the robotics neighborhood has been engaged on the layout of robot arms in a position to manipulating gadgets with a functionality just like that of the human hand. although, even if many researchers have in part studied numerous points, so far there was no accomplished characterization of the human hand’s functionality for greedy and manipulation of way of life objects.

This monograph explores the speculation that the confluence of either clinical fields, the biomechanical research of the human hand and the research of robot manipulation of gadgets, may enormously profit and boost either disciplines via simulation. consequently, during this e-book, the present wisdom of robotics and biomechanics courses the layout and implementation of a simulation framework taken with manipulation interactions that permits the learn of the snatch via simulation. for that reason, a priceless framework for the learn of the take hold of, with proper purposes in numerous fields reminiscent of robotics, biomechanics, ergonomics, rehabilitation and drugs, has been made on hand to those communities.

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4, pp. 3887–3894 (2000). 14. : Friction models and friction compensation. Eur. J. Control 4(3), 176–195 (1998) 15. : A new model for control of systems with friction. IEEE Trans. Autom. Control 40(3), 419–425 (Mar 1995) 16. : On a representation of friction in configuration space. Int. J. Robot. Res. 13(3), 2179–2184 (1994) 17. : Toppling manipulation. In: Proceedings. 1999 IEEE International conference on robotics and automation, 1999, vol. 4, pp. 2551–2557 (1999) 18. : Pin design for part feeding.

In addition to these new models, there are various models available in the older XML file format which is still supported. 2 Models of Complete Robot Platforms Additionally, we simulated the models of the robot platforms available within the laboratories of the partner members of the GRASP project. These platforms are used in the applications described in the following chapters of this book. Schunk PG70 Gripper We have also modeled the platform at the Lappeenranta University of Technology (LUT) which has a Schunk PG70 parallel jaw gripper.

41] formulated the force-closure test as 12 nonlinear programming problems. Trinkle [42] formalized the force closure condition as a linear programming problem. [33] observed that the force-closure problem is equivalent to the stability of an ordinary differential equation. [43] reformulated the force closure condition as a ray-shooting problem by linearizing the friction cones and proposed a clean-cut test for force closure grasps. [44] proposed a force-closure test representing the nonlinear friction cone constraints as linear matrix inequalities, for which efficient algorithms are now available.

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